CN114700206A - Magnetic adsorption wall-climbing spraying robot and using method thereof - Google Patents
Magnetic adsorption wall-climbing spraying robot and using method thereof Download PDFInfo
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- CN114700206A CN114700206A CN202210347128.XA CN202210347128A CN114700206A CN 114700206 A CN114700206 A CN 114700206A CN 202210347128 A CN202210347128 A CN 202210347128A CN 114700206 A CN114700206 A CN 114700206A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0278—Arrangement or mounting of spray heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
- B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
- B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
- B05B9/047—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump supply being effected by follower in container, e.g. membrane or floating piston, or by deformation of container
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a magnetic adsorption wall-climbing spraying robot, which relates to the technical field of wall-climbing robots and comprises an upper support and a lower support, wherein a pneumatic lifting mechanism is connected between the upper support and the lower support, the back surfaces of the upper support and the lower support are respectively connected with an upper adsorption assembly and a lower adsorption assembly, and the front surfaces of the upper support and the lower support are respectively and fixedly provided with an upper mounting frame and a lower mounting frame. According to the robot, the pneumatic lifting mechanism, the storage box, the spraying box, the conduction pipe, the movable rod, the piston column and the spraying assembly are matched with each other, the robot is driven to climb by the pneumatic lifting mechanism, when the storage box pulls the piston column to move upwards through the movable rod, spraying liquid enters the spraying box, when the spraying box moves upwards, the spraying assembly performs spraying operation, intermittent spraying operation is achieved in the climbing process of the robot, the operation efficiency can be improved, waste of the spraying liquid can be reduced, the overall structure is simple, the design is flexible, and the practicability is high.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to a magnetic adsorption wall-climbing spraying robot and a using method thereof.
Background
The robot is modern comparatively common automatic machine device who has automatic execution working ability, and along with the development of modern science and technology, the kind, the style of robot are increasingly various, wherein, in the structure to some surfaces most mostly be the plane of looking up and the side of large tracts of land, structure such as inside the pipeline, boats and ships surface and large-scale steel structure bridge, it is in the routine maintenance in-process, often need to accomplish spraying operation such as protective paint.
At present the most often adopted still traditional hanging flower basket is the mode of people and accomplishes the spraying operation, in the spraying process, there is certain potential safety hazard, need to adopt large-scale machines such as hanging flower basket during the maintenance, it is many to operation position requirement, overhaul the cost, and some current wall climbing robots that have the spraying function, its structure is loaded down with trivial details, the manufacturing cost is big, and when using, the going on of spraying operation is mostly independent control with crawling of robot, need be after the robot is stable promptly, could begin the spraying operation, or along with crawling of robot, continuously carry out the spraying operation, the former can lead to spraying efficiency to reduce, the latter then can cause the waste of a large amount of spraying liquid, can't satisfy modern user demand.
Disclosure of Invention
The invention aims to solve the problems that a climbing robot in the prior art is complicated in structure and high in manufacturing cost, and the spraying efficiency is reduced or a large amount of spraying liquid is wasted during spraying, and provides a magnetic adsorption wall-climbing spraying robot and a using method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme: a magnetic adsorption wall-climbing spraying robot comprises an upper support and a lower support, wherein a pneumatic lifting mechanism is connected between the upper support and the lower support, the back surfaces of the upper support and the lower support are respectively connected with an upper adsorption component and a lower adsorption component, the front surfaces of the upper support and the lower support are respectively and fixedly provided with an upper mounting frame and a lower mounting frame, the front surfaces of the upper mounting frame and the lower mounting frame are respectively and fixedly connected with a storage box and a spraying box, the side wall of the storage box is connected with the spraying components, a conduction pipe is connected between the storage box and the spraying box, the conduction pipe is connected with a control valve, the bottom of the storage box is fixedly connected with a movable rod, the bottom of the movable rod penetrates through the spraying box and is connected with a piston column, and the piston column is slidably connected to the inner wall of the spraying box and provided with an air guide component; the top of the storage box is connected with a feed pump, the liquid outlet of the feed pump is connected with the storage box through a liquid outlet pipe, and the liquid inlet of the feed pump is connected with a long liquid supplementing pipe.
As a further description of the above technical solution:
pneumatic elevating system is including two mounting panels of fixed connection respectively at upper portion support and lower part support lateral wall, two fixedly connected with two lift cylinders between the mounting panel.
As a further description of the above technical solution:
upper portion support and lower part support all are "worker" style of calligraphy setting and the vertical end in both sides all is the rectangle tubulose, upper portion support bottom sliding connection has two guide bars, and guide bar bottom sliding connection is on the support inside wall of lower part.
As a further description of the above technical solution:
go up the adsorption component and contain two last electromagnetic chucks and two lower electromagnetic chucks respectively with lower adsorption component go up the electromagnetic chuck and be connected with two through two last installation cylinders and go up the installation cover, two electromagnetic chucks are connected with two installation covers down through two installation cylinders down, go up the installation cover and cup joint respectively with lower installation cover on upper portion support and lower part support, two go up installation cover and two equal fixedly connected with synchronous connecting rod between the installation cover down.
As a further description of the above technical solution:
the spraying assembly comprises a guide pipe connected with the spraying box, one end of the guide pipe, which is far away from the spraying box, is connected with a horizontal pipe, the back of the horizontal pipe is detachably connected with a plurality of branch pipes, and the back of each branch pipe is fixedly connected with a plurality of nozzles.
As a further description of the above technical solution:
the air guide assembly comprises an air guide pipe which penetrates through the spraying box and is fixedly connected with the spraying box, the piston column is sleeved on the air guide pipe in a sliding mode, and the air guide pipe is connected with a one-way valve.
As a further description of the above technical solution:
go up the mounting bracket lateral wall and be connected with servo motor through the bracing piece, servo motor output end fixedly connected with rolling frame, long fluid infusion pipe include with the charge pump inlet be connected with the stereoplasm pipe and with the long soft pipe of stereoplasm pipe connection, long soft pipe top winding is connected at rolling frame surface.
A use method of a magnetic adsorption wall-climbing spraying robot comprises the following steps:
s1, firstly, moving the robot to a place to be climbed, inserting one end of the long and soft catheter far away from the hard catheter into the coating, starting a feeding pump, enabling the coating to enter a storage box through a long liquid supplementing pipe and a liquid outlet pipe for storage, closing the feeding pump after the storage box is fed, starting a servo motor, driving a winding frame to rotate by the servo motor, and winding part of the long and soft catheter on the winding frame;
s2, starting a lower mounting cylinder to enable a lower electromagnetic chuck to be in contact with the climbing surface, then closing the lower mounting cylinder, electrifying the lower electromagnetic chuck and tightly adsorbing the lower electromagnetic chuck on the climbing surface, starting a lifting cylinder, and enabling the piston end of the lifting cylinder to extend out and drive an upper support to move upwards through a mounting plate;
s3, after the upper support moves, closing a lifting cylinder, starting an upper mounting cylinder, driving an upper electromagnetic chuck to contact with a climbing surface, adsorbing the upper electromagnetic chuck on the climbing surface after being powered on, then powering off a lower electromagnetic chuck, driving the lower electromagnetic chuck to separate from the climbing surface by the lower mounting cylinder, starting the lifting cylinder again, driving a lower support to move upwards integrally by the contraction of a piston end of the lifting cylinder, driving the lower electromagnetic chuck to contact with the climbing surface by the lower mounting cylinder after the lower support moves upwards, and attracting the lower electromagnetic chuck to the climbing surface after being powered on to finish one-time climbing operation;
s4, repeating the steps S2-S3, enabling the upper support to climb to the position below the position to be sprayed, opening a control valve on the conduction pipe, driving the piston column to move upwards through the movable rod when the lifting cylinder is started again and drives the upper support to move upwards integrally, and enabling the paint in the storage box to enter the spraying box through the conduction pipe after the piston column and the conduction pipe are dislocated;
s5, when the lifting cylinder is started to drive the lower support to move upwards, the lower support drives the lower mounting rack to move upwards integrally, the spraying box moves upwards at the moment, and the piston column extrudes the spraying box and cuts off the conduction pipe, so that spraying liquid in the spraying box is sprayed outwards through the delivery pipe, the transverse pipe, the branch pipe and the spray head, and spraying operation is started;
s6, repeating the steps S4-S5, completing spraying operation on the climbing surface in sequence, starting a servo motor when spraying liquid needs to be supplemented into a storage box located at a high position, driving a winding frame to rotate reversely by the output end of the servo motor, moving the bottom end of the long soft catheter downwards under the action of gravity, moving the long soft catheter until the bottom of the long soft catheter is inserted into the spraying liquid, starting a feeding pump, and pumping the spraying liquid into the storage box by the feeding pump for storage;
s7, after the operation of supplementing the spraying liquid for one time is finished, closing the feeding pump, starting the servo motor, and driving the winding frame to rotate by the servo motor to wind the long flexible guide tube again;
s8, after the robot is used, starting a lifting cylinder when an upper electromagnetic chuck is attracted with a climbing surface, wherein the piston end of the lifting cylinder extends out and pushes a lower support to integrally move downwards through a corresponding mounting plate, then starting a lower mounting cylinder and driving the lower electromagnetic chuck to be in contact with the climbing surface, powering on the lower electromagnetic chuck to be attracted with the climbing surface, powering off the upper electromagnetic chuck, driving the upper electromagnetic chuck to be separated from the climbing surface by the upper mounting cylinder, and then contracting the piston end of the lifting cylinder to drive an upper support to move downwards;
s9, after the upper support moves downwards, the upper mounting air cylinder drives the upper electromagnetic chuck to contact with the climbing surface, the upper electromagnetic chuck is powered on and is attracted with the climbing surface, the step S8 is repeated, the robot moves to the bottom of the climbing surface, and finally the robot can be taken down under the condition that the upper electromagnetic chuck and the lower electromagnetic chuck are powered off, so that one round of spraying operation is completed.
The invention has the following beneficial effects:
1. through pneumatic elevating system, the storage box, the spraying case, the conduction pipe, the movable rod, mutually support between piston post and the spraying subassembly, pneumatic elevating system work drives this robot climbing, when the storage box shifts up through movable rod pulling piston post, spraying liquid gets into the spraying incasement, when the spraying case shifts up, spraying subassembly carries out the spraying operation, realize intermittent type spraying operation at robot climbing in-process, both can improve the operating efficiency, also can reduce the waste of spraying liquid, overall structure is simple, the design is nimble, therefore, the clothes hanger is strong in practicability.
2. Through the cooperation each other between upper portion support, lower part support, lift cylinder, go up electromagnetic chuck, lower electromagnetic chuck, go up installation cylinder and the lower installation cylinder, utilize the lift cylinder to drive upper portion support and lower part support and remove in proper order, and go up electromagnetic chuck and electromagnetic chuck cooperation down, guaranteed this robot and climbing stability between the face, can effectively maintain the balance of this robot, make it be difficult for rocking.
3. Through mutually supporting between storage box, charge pump, drain pipe, long liquid supply pipe, servo motor and the rolling frame, when the storage box was located the eminence, servo motor drove the rolling frame reversal, can make long liquid supply pipe end move down to the bottom, and the charge pump starts the back, need not downward adjustment storage box position and also can realize the replenishment of spraying liquid, facilitates for reinforced the providing, has further guaranteed the spraying operation high-efficiently.
Drawings
Fig. 1 is a first view structural schematic diagram of a magnetic adsorption wall-climbing spraying robot provided by the invention;
fig. 2 is a second perspective structural schematic view of a magnetic adsorption wall-climbing spraying robot according to the present invention;
fig. 3 is a schematic structural diagram of a climbing state of the magnetic adsorption wall-climbing spraying robot provided by the invention;
FIG. 4 is an enlarged view taken at A in FIG. 3;
fig. 5 is a schematic view of a connection structure of an upper bracket, a lower bracket and a pneumatic lifting mechanism in the magnetic adsorption wall-climbing spraying robot according to the present invention;
fig. 6 is a schematic structural diagram of a storage box and a spraying box in the magnetic adsorption wall-climbing spraying robot provided by the invention;
fig. 7 is a front view of a magnetic adsorption wall-climbing spraying robot provided by the invention;
fig. 8 is a side view of a magnetic adsorption wall-climbing spraying robot provided by the invention.
Illustration of the drawings:
1. an upper bracket; 2. a lower bracket; 3. mounting a frame; 4. a lower mounting frame; 5. a storage box; 6. a spraying box; 7. a conduction pipe; 8. a movable rod; 9. a piston post; 10. a charge pump; 11. a liquid outlet pipe; 12. a long liquid replenishing pipe; 121. a rigid conduit; 122. a long flexible catheter; 13. mounting a plate; 14. a lifting cylinder; 15. a guide bar; 16. electrifying the electromagnetic chuck; 17. a lower electromagnetic chuck; 18. an upper mounting cylinder; 19. mounting a sleeve; 20. a lower mounting cylinder; 21. a lower mounting sleeve; 22. a delivery pipe; 23. a transverse tube; 24. pipe distribution; 25. a spray head; 26. an air duct; 27. a one-way valve; 28. a support bar; 29. a servo motor; 30. a winding frame; 31. synchronous connecting rod.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 8, the present invention provides a magnetic adsorption wall-climbing spray coating robot: the climbing device comprises an upper support 1 and a lower support 2, wherein a pneumatic lifting mechanism is connected between the upper support 1 and the lower support 2, the pneumatic lifting mechanism comprises two mounting plates 13 fixedly connected to the side walls of the upper support 1 and the lower support 2 respectively, two lifting cylinders 14 are fixedly connected between the two mounting plates 13, the upper support 1 and the lower support 2 are arranged in an I shape, the vertical ends of the two sides of the upper support 1 and the two vertical ends of the lower support 2 are in a rectangular tubular shape, the bottom of the upper support 1 is slidably connected with two guide rods 15, the bottoms of the guide rods 15 are slidably connected to the inner side wall of the lower support 2, the mounting directions of the two lifting cylinders 14 are opposite, as shown in figure 5, when a lower electromagnetic chuck 17 is fixed with a climbing surface, the upper support 1 needs to move upwards, the lifting cylinder 14 with the upward piston end pushes the corresponding mounting plate 13 to move upwards at the moment, so as to drive the upper support 1 to move upwards, and meanwhile, the piston end of the lifting cylinder 14 with the downward piston end correspondingly extends out, at the moment, the lower support 2 is fixed in position and cannot move downwards, and the upper support 1 is driven to move upwards by the counterforce, so that the aim of stably adjusting the up-down position of the robot is fulfilled.
The back of upper portion support 1 and lower part support 2 is connected with adsorption component and lower adsorption component respectively, it contains two last electromagnetic chucks 16 and two lower electromagnetic chucks 17 respectively with lower adsorption component to go up adsorption component, two last electromagnetic chucks 16 are connected with two through two last installation cylinders 18 and go up installing sleeve 19, two lower electromagnetic chucks 17 are connected with two lower installing sleeve 21 through two lower installation cylinders 20, it is fixed cup jointing respectively on upper portion support 1 and lower part support 2 with lower installing sleeve 21 to go up installing sleeve 19, install sleeve 19 and two lower equal fixedly connected with synchronous connecting rod 31 between installing sleeve 21 on two, utilize synchronous connecting rod 31 can guarantee the synchronism of both sides, thereby make the removal of upper portion support 1 and lower part support 2 more stable.
Wherein, upper portion support 1 and lower part support 2 openly respectively fixed mounting have last mounting bracket 3 and lower mounting bracket 4, go up mounting bracket 3 and lower mounting bracket 4 openly respectively fixedly connected with storage box 5 and spraying case 6, the storage box 5 lateral wall is connected with the spraying subassembly, the spraying subassembly includes contact tube 22 of being connected with spraying case 6, contact tube 22 keeps away from spraying case 6 one end and is connected with violently pipe 23, violently pipe 23 back can be dismantled and be connected with many minutes pipe 24, divide the equal a plurality of shower nozzles 25 of fixedly connected with in 24 backs, be connected with conduction pipe 7 between storage box 5 and the spraying case 6, be connected with the control valve on conduction pipe 7, wherein the middle section of conduction pipe 7 is the hose, can not drag each other when making storage box 5 and spraying case 6 remove.
The bottom of the storage box 5 is fixedly connected with a movable rod 8, the bottom of the movable rod 8 penetrates through the spraying box 6 and is connected with a piston column 9, and the piston column 9 is connected to the inner wall of the spraying box 6 in a sliding mode and provided with an air guide assembly; the air guide assembly comprises an air guide pipe 26 which penetrates through the spraying box 6 and is fixedly connected with the spraying box 6, the piston column 9 is sleeved on the air guide pipe 26 in a sliding mode, a one-way valve 27 is connected onto the air guide pipe 26, the one-way valve 27 is used for controlling external air to enter the spraying box 6 only through the air guide pipe 26, and air in the spraying box 6 cannot be discharged outwards through the air guide pipe 26, so that the stability of the pressure in the spraying box 6 can be guaranteed.
Wherein, 5 tops in storage box are connected with charge pump 10, the 10 liquid outlets of charge pump pass through drain pipe 11 and are connected with storage box 5, the 10 inlet of charge pump is connected with long moisturizing pipe 12, it is connected with servo motor 29 through bracing piece 28 to go up 3 lateral walls of mounting bracket, servo motor 29 output fixedly connected with rolling frame 30, long moisturizing pipe 12 includes the long soft pipe 122 that is connected with stereoplasm pipe 121 and is connected with stereoplasm pipe 121 with the 10 inlet of charge pump, long soft pipe 122 top winding is connected at rolling frame 30 surface, utilize the long soft pipe 122 of rolling frame 30 rolling, make long soft pipe 122 more neat, avoid long soft pipe 122 winding and influence crawling of robot.
A use method of a magnetic adsorption wall-climbing spraying robot comprises the following steps:
s1, firstly, moving the robot to a place needing to be climbed, inserting one end of the long and soft catheter 122, which is far away from the hard catheter 121, into the paint, starting the feeding pump 10, enabling the paint to enter the storage box 5 through the long liquid supplementing pipe 12 and the liquid outlet pipe 11 for storage, after the storage box 5 finishes feeding, closing the feeding pump 10, starting the servo motor 29, enabling the servo motor 29 to drive the winding frame 30 to rotate, and winding part of the long and soft catheter 122 onto the winding frame 30;
s2, starting the lower mounting cylinder 20 to enable the lower electromagnetic chuck 17 to be in contact with the climbing surface, then closing the lower mounting cylinder 20, electrifying the lower electromagnetic chuck 17 and tightly adsorbing the lower electromagnetic chuck on the climbing surface, starting the lifting cylinder 14, extending out the piston end of the lifting cylinder 14 and driving the upper support 1 to move upwards through the mounting plate 13;
s3, after the upper support 1 is moved, the lifting cylinder 14 is closed, the upper mounting cylinder 18 is started, the upper mounting cylinder 18 drives the upper electromagnetic chuck 16 to be in contact with the climbing surface, the upper electromagnetic chuck 16 is adsorbed on the climbing surface after being electrified, then the lower electromagnetic chuck 17 is powered off, the lower mounting cylinder 20 drives the lower electromagnetic chuck 17 to be separated from the climbing surface, the lifting cylinder 14 is started again, the piston end of the lifting cylinder 14 contracts to drive the lower support 2 to integrally move upwards, after the lower support 2 is moved upwards, the lower mounting cylinder 20 drives the lower electromagnetic chuck 17 to be in contact with the climbing surface, the lower electromagnetic chuck 17 is electrified and attracted with the climbing surface, and one-time climbing operation is completed;
s4, repeating the steps S2-S3, enabling the upper support 1 to climb to the position below the position to be sprayed, opening a control valve on the conduction pipe 7, driving the piston column 9 to move upwards through the movable rod 8 by the storage box 5 when the lifting cylinder 14 is started again and drives the upper support 1 to move upwards integrally, and after the piston column 9 and the conduction pipe 7 are dislocated, allowing the paint in the storage box 5 to enter the spraying box 6 through the conduction pipe 7;
s5, when the lifting cylinder 14 is started to drive the lower support 2 to move upwards, the lower support 2 drives the lower mounting frame 4 to move upwards integrally, at the moment, the spraying box 6 moves upwards, the piston column 9 extrudes the spraying box 6 and cuts off the conduction pipe 7, so that spraying liquid in the spraying box 6 is sprayed outwards through the guide pipe 22, the transverse pipe 23, the branch pipe 24 and the spray head 25, and spraying operation is started;
s6, repeating the steps S4-S5, completing spraying operation on the climbing surface in sequence, starting the servo motor 29 when spraying liquid needs to be supplemented into the storage box 5 located at the high position, driving the winding frame 30 to rotate reversely by the output end of the servo motor 29, moving the bottom end of the long soft guide pipe 122 downwards under the action of gravity, moving the long soft guide pipe 122 until the bottom of the long soft guide pipe is inserted into the spraying liquid, starting the feeding pump 10, and pumping the spraying liquid into the storage box 5 by the feeding pump 10 for storage;
s7, after the operation of supplementing the spraying liquid for the first time is finished, the feeding pump 10 is closed, the servo motor 29 is started, and the servo motor 29 drives the winding frame 30 to rotate to wind the long flexible guide tube 122 again;
s8, after the robot is used, starting the lifting cylinder 14 when the upper electromagnetic chuck 16 is attracted to the climbing surface, enabling the piston end of the lifting cylinder 14 to stretch out and push the lower support 2 to integrally move downwards through the corresponding mounting plate 13, then starting the lower mounting cylinder 20 and driving the lower electromagnetic chuck 17 to be in contact with the climbing surface, enabling the lower electromagnetic chuck 17 to be powered on and attracted to the climbing surface, then powering off the upper electromagnetic chuck 16, driving the upper electromagnetic chuck 16 to be separated from the climbing surface through the upper mounting cylinder 18, and then enabling the piston end of the lifting cylinder 14 to contract to drive the upper support 1 to move downwards;
s9, after the upper support 1 is moved downwards, the upper mounting air cylinder 18 drives the upper electromagnetic chuck 16 to be in contact with the climbing surface, the upper electromagnetic chuck 16 is powered on and attracted to the climbing surface, the step S8 is repeated until the robot moves to the bottom of the climbing surface, and finally the robot can be taken down under the condition that the upper electromagnetic chuck 16 and the lower electromagnetic chuck 17 are powered off, so that one round of spraying operation is completed.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (8)
1. The utility model provides a wall spraying machine people is climbed in magnetism adsorbs, includes upper portion support and lower part support, its characterized in that: a pneumatic lifting mechanism is connected between the upper support and the lower support, the back surfaces of the upper support and the lower support are respectively connected with an upper adsorption component and a lower adsorption component, and the front surfaces of the upper support and the lower support are respectively fixedly provided with an upper mounting frame and a lower mounting frame;
the front surfaces of the upper mounting frame and the lower mounting frame are respectively fixedly connected with a storage box and a spraying box, the side wall of the storage box is connected with a spraying assembly, a conduction pipe is connected between the storage box and the spraying box, the conduction pipe is connected with a control valve, the bottom of the storage box is fixedly connected with a movable rod), the bottom of the movable rod penetrates through the spraying box and is connected with a piston column, the piston column is connected to the inner wall of the spraying box in a sliding manner, and an air guide assembly is arranged on the piston column;
the storage box top is connected with the charge pump, and the charge pump liquid outlet passes through the drain pipe to be connected with the storage box, the charge pump inlet is connected with long liquid supplement pipe.
2. The magnetic adsorption wall-climbing spraying robot of claim 1, characterized in that: pneumatic elevating system is including two mounting panels of fixed connection respectively at upper portion support and lower part support lateral wall, two fixedly connected with two lift cylinders between the mounting panel.
3. The magnetic adsorption wall-climbing spraying robot of claim 1, characterized in that: the upper support and the lower support are both in an I-shaped shape, the vertical ends of the two sides of the upper support and the vertical ends of the two sides of the lower support are both in a rectangular tubular shape, the bottom of the upper support is slidably connected with two guide rods, and the bottom of each guide rod is slidably connected to the inner side wall of the lower support.
4. The magnetic adsorption wall-climbing spraying robot of claim 1, characterized in that: go up the adsorption component and contain two last electromagnetic chucks and two lower electromagnetic chucks respectively with lower adsorption component, two last electromagnetic chucks are connected with two through two last installation cylinders and are gone up the installation cover, two lower electromagnetic chucks are connected with two installation covers down through two installation cylinders down, go up the installation cover and fixedly cup joint respectively on upper portion support and lower part support with lower installation cover, install the synchronous connecting rod of equal fixedly connected with between the cover under two and installation cover on two.
5. The magnetic adsorption wall-climbing spraying robot of claim 1, characterized in that: the spraying assembly comprises a guide pipe connected with the spraying box, one end of the guide pipe, which is far away from the spraying box, is connected with a horizontal pipe, the back of the horizontal pipe is detachably connected with a plurality of branch pipes, and the back of each branch pipe is fixedly connected with a plurality of nozzles.
6. The magnetic adsorption wall-climbing spraying robot of claim 1, characterized in that: the air guide assembly comprises an air guide pipe which penetrates through the spraying box and is fixedly connected with the spraying box, the piston column is sleeved on the air guide pipe in a sliding mode, and the air guide pipe is connected with a one-way valve.
7. The magnetic adsorption wall-climbing spraying robot of claim 1, characterized in that: go up the mounting bracket lateral wall and be connected with servo motor through the bracing piece, servo motor output end fixedly connected with rolling frame, long fluid infusion pipe include with the charge pump inlet be connected with the stereoplasm pipe and with the long soft pipe of stereoplasm pipe connection, long soft pipe top winding is connected at rolling frame surface.
8. A method of using a magnetic adsorption wall-climbing spray painting robot, using a magnetic adsorption wall-climbing spray painting robot according to any one of claims 1 to 7, characterized in that: the method comprises the following steps:
s1, firstly, moving the robot to a place to be climbed, inserting one end of the long and soft catheter far away from the hard catheter into the coating, starting a feeding pump, enabling the coating to enter a storage box through a long liquid supplementing pipe and a liquid outlet pipe for storage, closing the feeding pump after the storage box is fed, starting a servo motor, driving a winding frame to rotate by the servo motor, and winding part of the long and soft catheter on the winding frame;
s2, starting a lower mounting cylinder to enable a lower electromagnetic chuck to be in contact with the climbing surface, then closing the lower mounting cylinder, electrifying the lower electromagnetic chuck and tightly adsorbing the lower electromagnetic chuck on the climbing surface, starting a lifting cylinder, and enabling the piston end of the lifting cylinder to extend out and drive an upper support to move upwards through a mounting plate;
s3, after the upper support moves, closing a lifting cylinder, starting an upper mounting cylinder, driving an upper electromagnetic chuck to contact with a climbing surface, adsorbing the upper electromagnetic chuck on the climbing surface after being powered on, then powering off a lower electromagnetic chuck, driving the lower electromagnetic chuck to separate from the climbing surface by the lower mounting cylinder, starting the lifting cylinder again, driving a lower support to move upwards integrally by the contraction of a piston end of the lifting cylinder, driving the lower electromagnetic chuck to contact with the climbing surface by the lower mounting cylinder after the lower support moves upwards, and attracting the lower electromagnetic chuck to the climbing surface after being powered on to finish one-time climbing operation;
s4, repeating the steps S2-S3, enabling the upper support to climb to the position below the position to be sprayed, opening a control valve on the conduction pipe, driving the piston column to move upwards through the movable rod when the lifting cylinder is started again and drives the upper support to move upwards integrally, and enabling the paint in the storage box to enter the spraying box through the conduction pipe after the piston column and the conduction pipe are dislocated;
s5, when the lifting cylinder is started to drive the lower support to move upwards, the lower support drives the lower mounting rack to move upwards integrally, at the moment, the spraying box moves upwards, the piston column extrudes the spraying box and cuts off the conduction pipe, so that spraying liquid in the spraying box is sprayed outwards through the delivery pipe, the transverse pipe, the branch pipe and the spray head, and spraying operation is started;
s6, repeating the steps S4-S5, completing spraying operation on the climbing surface in sequence, starting a servo motor when spraying liquid needs to be supplemented into a storage box located at a high position, driving a winding frame to rotate reversely by the output end of the servo motor, moving the bottom end of the long soft catheter downwards under the action of gravity, moving the long soft catheter until the bottom of the long soft catheter is inserted into the spraying liquid, starting a feeding pump, and pumping the spraying liquid into the storage box by the feeding pump for storage;
s7, after the spraying liquid replenishing operation is finished, the feeding pump is closed, the servo motor is started, and the servo motor drives the winding frame to rotate to wind the long flexible guide tube again;
s8, after the robot is used, starting a lifting cylinder when an upper electromagnetic chuck is attracted with a climbing surface, wherein the piston end of the lifting cylinder extends out and pushes a lower support to integrally move downwards through a corresponding mounting plate, then starting a lower mounting cylinder and driving the lower electromagnetic chuck to be in contact with the climbing surface, powering on the lower electromagnetic chuck to be attracted with the climbing surface, powering off the upper electromagnetic chuck, driving the upper electromagnetic chuck to be separated from the climbing surface by the upper mounting cylinder, and then contracting the piston end of the lifting cylinder to drive an upper support to move downwards;
s9, after the upper support moves downwards, the upper mounting air cylinder drives the upper electromagnetic chuck to contact with the climbing surface, the upper electromagnetic chuck is powered on and is attracted with the climbing surface, the step S8 is repeated, the robot moves to the bottom of the climbing surface, and finally the robot can be taken down under the condition that the upper electromagnetic chuck and the lower electromagnetic chuck are powered off, so that one round of spraying operation is completed.
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| JP2013031890A (en) * | 2011-08-01 | 2013-02-14 | Yaskawa Electric Corp | Coating system, and opening and closing hand of door opening and closing robot |
| CN109229227A (en) * | 2018-11-09 | 2019-01-18 | 燕山大学 | Climbing robot |
| CN212383934U (en) * | 2020-03-10 | 2021-01-22 | 安吉欧创家具有限公司 | Flush coater for leather spraying coating |
| CN113019776A (en) * | 2021-02-03 | 2021-06-25 | 安兵 | A surface paint coating spraying device for high-rise steel construction |
| CN214402607U (en) * | 2020-12-28 | 2021-10-15 | 武汉二航路桥特种工程有限责任公司 | Automatic crawling spraying machine |
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2022
- 2022-04-01 CN CN202210347128.XA patent/CN114700206B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013031890A (en) * | 2011-08-01 | 2013-02-14 | Yaskawa Electric Corp | Coating system, and opening and closing hand of door opening and closing robot |
| CN109229227A (en) * | 2018-11-09 | 2019-01-18 | 燕山大学 | Climbing robot |
| CN212383934U (en) * | 2020-03-10 | 2021-01-22 | 安吉欧创家具有限公司 | Flush coater for leather spraying coating |
| CN214402607U (en) * | 2020-12-28 | 2021-10-15 | 武汉二航路桥特种工程有限责任公司 | Automatic crawling spraying machine |
| CN113019776A (en) * | 2021-02-03 | 2021-06-25 | 安兵 | A surface paint coating spraying device for high-rise steel construction |
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